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Digital Image Processing

Assignment- Week 3
TYPE OF QUESTION: MCQ/MSQ
Number of questions: 10 Total mark: 10 X 1 = 10
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QUESTION 1:

Given 2 points a ,b in non-standard homogeneous coordinate system,

1 5
2 10
𝑎 = [ ],𝑏 = [ ]
3 15
1 5
select the correct statement
a) Point ‘a’ and ‘b’ get projected to different points on image plane
b) Point ‘a’ and ‘b’ gets projected to same point on image plane
c) A unique ray passes through point ‘a’, point ‘b’, center of projection (i.e. pinhole)
and intersects the image plane
d) Both b) and c)

Correct Answer: d
Detailed Solution:

1 5
2 10
𝑎 = [ ],𝑏 = [ ]
3 15
1 5
When written in standard homogeneous system coordinate system are

1 5/5 1
2 10/5 2
𝑎 = [ ],𝑏 = [ ]=[ ]
3 15/5 3
1 5/5 1
Thus both the point ‘a’ and ‘b’ are equivalent in standard homogeneous system coordinate
system, therefore there is a unique ray that passes through point ‘a’ and ‘b’ and intersects camera
center, projecting point ‘a’ and ‘b’ at same location on image plane.
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QUESTION 2:
Which of the following transformation matrix corresponds to rotation about x-axis in anti-
clockwise direction?
1 0 0 0
0 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜃 0
a) [ ]
0 − 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 0
0 0 0 1
1 0 0 0
0 𝑐𝑜𝑠 𝜃 −𝑠𝑖𝑛 𝜃 0
b) [ ]
0 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 0
0 0 0 1
1 0 0 0
0 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜃 0
c) [ ]
0 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 0
0 0 0 1
𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜃 0 0
− 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 0 0
d) [ ]
0 0 1 0
0 0 0 1
Correct Answer: b
Detailed Solution:

Transformation matrix that corresponds to rotation about x-axis in clockwise direction is given
as
1 0 0 0
0 𝑐𝑜𝑠 𝜃 𝑠𝑖𝑛 𝜃 0
𝑇=[ ]
0 − 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 0
0 0 0 1

For angle is negative; i.e. - 𝜃 , Therefore

1 0 0 0 1 0 0 0
0 𝑐𝑜𝑠( −𝜃) 𝑠𝑖𝑛( −𝜃) 0 0 𝑐𝑜𝑠 𝜃 − 𝑠𝑖𝑛 𝜃 0
𝑇=[ ]= [ ]
0 − 𝑠𝑖𝑛(− 𝜃) 𝑐𝑜𝑠(− 𝜃) 0 0 𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃 0
0 0 0 1 0 0 0 1
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QUESTION 3:
How many world points are required to estimate all coefficients of caliberation matrix?
a) 5
b) 4
c) 6
d) 12
Correct Answer: c
Detailed Solution:

Camera calibration matrix has 12 unknowns. Since each point gives 2 equations, therefore we
need atleast 6 points to estimate all coefficients.
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QUESTION 4:
For a stereo pair, one camera is shifted along y-axis with respect to other. Imaging plane is 𝑋𝑌
plane. If B is the baseline between the cameras, λ is the focal length, and (𝑦2 − 𝑦1 ) is the
disparity along y-axis then which of the following is true?
λB
a) Z = B + (𝑦
2 −𝑦1 )
λB
b) Y = λ − (𝑥
2 −𝑥1 )
λB
c) X = λ − (𝑦
2 −𝑦1 )
λB
d) Z = λ − (𝑦
2 −𝑦1 )

Correct Answer: d
Detailed Solution:

By using standard stereo model, we get

λB
Z=λ−
(𝑦2 − 𝑦1 )

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QUESTION 5:
Two identical cameras having focal length of 0.04m are used for stereo imaging. If the camera
displacement along X axis is 6.0 cm, left image point corresponding to a world point W is (0.2
mm, 0.4 mm) and the corresponding right image point is (0.4 mm, 0.4 mm), find out the 3-D
location of W with respect to a world coordinate system aligned with the coordinate system of
the left camera.

a) (-60cm, -90cm, 1240 cm)

b) (6cm, 12cm, -1196cm)
c) (6cm, 9cm, 1204cm)
d) (-6cm, -9cm, 120.4cm)
Correct Answer: b
Detailed Solution:

λ =0.04m, x2 = 0.4mm, x1 = 0.2mm, B = 6.0cm. Displacement is along x-axis, so by using

standard expression for depth in stereo geometry,
λB
Z = λ − (𝑥 , substituting the above values we get Z = -1196cm
2 −𝑥1 )

For X and Y with respect to left camera, we use the following relations

𝑥0 𝑦0
𝑋= (𝜆 − 𝑍) and 𝑌 = (𝜆 − 𝑍),
𝜆 𝜆

Substituting Z = -1196cm we get X = 6cm and Y = 12cm.

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QUESTION 6:
Which of the following deals with the conversion of three-dimensional world co-ordinate to two
dimensional image?

a. Perspective Transfomation
b. Rotation
c. Linear Transformation
d. Non-linear mapping
Correct Answer: a
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Detailed Solution:

Perspective Transfomation deals with the conversion of three dimensional world co-ordinate to
two dimensional image.
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QUESTION 7:
For standard stereo image pair camera system as discussed in lectures, for a focused 3D point,
which of the following is True?

a) Disparity is always negative

b) Disparity can be both positive and negative.
c) Absolute value of Disparity decreases as object depth increases
d) Both a and c

Correct Answer: d
Detailed Solution:

λB
Z=λ−
(𝑥2 − 𝑥1 )
λB
𝑥2 − 𝑥1 =
(λ − Z)
So 𝑥2 − 𝑥1 can be both positive and negative depending on sign of (λ − Z), however since 3D
point is focused, (λ < Z) , therefore 𝑥2 − 𝑥1 is always negative
Objects closer to camera moves faster (larger disparity) than the objects which are farther,
therefore disparity decreases as object depth increases.
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QUESTION 8:
For a camera with focal length of 0.10, find out the locus of the points which will be imaged at
location (0.25, 0.5) on the Image plane. Assume the camera coordinate system and world
coordinate system to be perfectly aligned.

a) X = -0.5 + 5Z, Y = -0.25 + 2.5Z

b) X = 0.5 − 5Z, Y = 0.25 - 2.5Z
c) X = 0.25 - 2.5Z, Y = 0.5 − 5Z
d) X = 0.5 - 10Z, Y = 0.5 - 10Z

Correct Answer: c.
Detailed Solution:
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By using pin-hole camera geometry equations,

𝑥0 𝑦0
𝑋= 𝜆
(𝜆 − 𝑍) and 𝑌 = 𝜆
(𝜆 − 𝑍), where (𝑋, 𝑌, 𝑍)are world coordinates,

𝜆is focal length and (𝑥𝑜 , 𝑦𝑜 ) is image coordinates. Using these two equations we get,
X = 0.25 - 2.5Z, Y = 0.5 − 5Z

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QUESTION 9:
The figure below is first scaled by a factor of 0.5 and translated by vector [-1, +1], What is the
transformed figure?

a)

b)
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c)

d) None of These

Correct Answer: b.
Detailed Solution:

Scaling transformation matrix S is :

0.5 0 0
𝑆 = [ 0 0.5 0]
0 0 1

and translation matrix T is :

1 0 −1
𝑇 = [0 1 1]
0 0 1

Therefore, full transformation is

𝑥′ 1 0 −1 0.5 0 0 𝑥
′
[𝑦 ] = [0 1 1 ] [ 0 0.5 0] [𝑦]
𝑘 0 0 1 0 0 1 1

𝑥′ 0.5𝑥 − 1
[𝑦′] = [0.5𝑦 + 1]
𝑘 1

𝑥 0 4 0 4
Using these for [𝑦] = [0] , [0] , [−4] , [−4],
1 1 1 1 1
𝑥′ −1 1 −1 1
′
we get transformed coordinates [𝑦 ] = [ 1 ] , [1] , [−1] , [−1]
𝑘 1 1 1 1

𝑥′ −1 1 −1 1
Since k=1, [ ′ ] = [ ] , [ ] , [ ] , [ ]
𝑦 1 1 −1 −1
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QUESTION 10:
The figure 1 is first translated by vector [ 1,- 0.5] and then scaled up by a factor 2, What is the
transformed figure?

Figure 1

a)

b)

c)

d) None of the above

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Correct Answer: a
Detailed Solution:

Scaling transformation matrix S is:

2 0 0
𝑆 = [0 2 0]
0 0 1

and translation matrix T is:

1 0 1
𝑇 = [0 1 −0.5]
0 0 1

Therefore, full transformation is

𝑥′ 2 0 0 1 0 1 𝑥
[𝑦 ′ ] = [0 2 0] [0 1 −0.5] [𝑦]
𝑘 0 0 1 0 0 1 1

𝑥′ 2𝑥 + 2
[𝑦′] = [2𝑦 − 1]
𝑘 1

𝑥 −1 1 −1 1
𝑦
Using these for [ ] = [ 1 ] , [1] , [−1] , [−1],
1 1 1 1 1
𝑥′ 0 4 0 4
′
we get transformed coordinates [𝑦 ] = [1] , [1] , [−3] , [−3]
𝑘 1 1 1 1

𝑥′ 0 4 0 4
Since k=1, [ ′ ] = [ ] , [ ] , [ ] , [ ]
𝑦 1 1 −3 −3

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